Add teb default config as json

data/armarx_navigation/local_planner_config/TimedElasticBands/default.json

+
+{
+  "odom_topic": "odom",
+  "map_frame": "odom",
+
+  "pse": {
+    "pse_costum_obstacle_penalties": true,
+    "pse_costum_obstacle_penalties_dynamic": true,
+    "weight_global_path": 0.1,
+    "lrk_use_alternative_approach": false,
+    "lrk_enable_collision_check": true,
+    "hybrid_homotopy_calculation": true,
+    "robot_diff_circumscribed_inscribed_radius": 0.0
+  },
+
+  "trajectory": {
+    "teb_autosize": true,
+    "dt_ref": 0.3,
+    "dt_hysteresis": 0.1,
+    "min_samples": 3,
+    "max_samples": 500,
+    "global_plan_overwrite_orientation": true,
+    "allow_init_with_backwards_motion": false,
+    "global_plan_viapoint_sep": -1,
+    "via_points_ordered": false,
+    "max_global_plan_lookahead_dist": 1,
+    "global_plan_prune_distance": 1,
+    "exact_arc_length": false,
+    "force_reinit_new_goal_dist": 1,
+    "force_reinit_new_goal_angular": 0.5 * M_PI,
+    "feasibility_check_no_poses": 5,
+    "feasibility_check_lookahead_distance": -1,
+    "publish_feedback": false,
+    "min_resolution_collision_check_angular": M_PI,
+    "control_look_ahead_poses": 1
+  },
+
+  "robot": {
+    "max_vel_x": 0.4,
+    "max_vel_x_backwards": 0.2,
+    "max_vel_y": 0.0,
+    "max_vel_theta": 0.3,
+    "acc_lim_x": 0.5,
+    "acc_lim_y": 0.5,
+    "acc_lim_theta": 0.5,
+    "min_turning_radius": 0,
+    "wheelbase": 1.0,
+    "cmd_angle_instead_rotvel": false,
+    "is_footprint_dynamic": false,
+    "use_proportional_saturation": false,
+    "transform_tolerance": 0.5
+  },
+
+  "goal_tolerance": {
+    "xy_goal_tolerance": 0.2,
+    "yaw_goal_tolerance": 0.2,
+    "free_goal_vel": false,
+    "complete_global_plan": true
+
+  },
+
+  "obstacles": {
+    "min_obstacle_dist": 0.5,
+    "inflation_dist": 0.0,
+    "dynamic_obstacle_inflation_dist": 0.6,
+    "include_dynamic_obstacles": true,
+    "include_costmap_obstacles": true,
+    "costmap_obstacles_behind_robot_dist": 1.5,
+    "obstacle_poses_affected": 25,
+    "legacy_obstacle_association": false,
+    "obstacle_association_force_inclusion_factor": 1.5,
+    "obstacle_association_cutoff_factor": 5,
+    "costmap_converter_plugin": "",
+    "costmap_converter_spin_thread": true,
+    "costmap_converter_rate": 5,
+    "obstacle_proximity_ratio_max_vel": 1,
+    "obstacle_proximity_lower_bound": 0,
+    "obstacle_proximity_upper_bound": 0.5
+  },
+
+  "optim": {
+    "no_inner_iterations": 5,
+    "no_outer_iterations": 4,
+    "optimization_activate": true,
+    "optimization_verbose": false,
+    "penalty_epsilon": 0.05,
+    "weight_max_vel_x": 2,
+    "weight_max_vel_y": 2,
+    "weight_max_vel_theta": 1,
+    "weight_acc_lim_x": 1,
+    "weight_acc_lim_y": 1,
+    "weight_acc_lim_theta": 1,
+    "weight_kinematics_nh": 1000,
+    "weight_kinematics_forward_drive": 1,
+    "weight_kinematics_turning_radius": 1,
+    "weight_optimaltime": 1,
+    "weight_shortest_path": 0,
+    "weight_obstacle": 50,
+    "weight_inflation": 0.1,
+    "weight_dynamic_obstacle": 50,
+    "weight_dynamic_obstacle_inflation": 0.1,
+    "weight_velocity_obstacle_ratio": 0,
+    "weight_viapoint": 1,
+    "weight_prefer_rotdir": 50,
+    "weight_adapt_factor": 2.0,
+    "obstacle_cost_exponent": 1.0
+  },
+
+  "hcp": {
+    "enable_homotopy_class_planning": true,
+    "enable_multithreading": true,
+    "simple_exploration": false,
+    "max_number_classes": 5,
+    "max_number_plans_in_current_class" 0,
+    "selection_cost_hysteresis": 1.0,
+    "selection_prefer_initial_plan": 0.95,
+    "selection_obst_cost_scale": 100.0,
+    "selection_viapoint_cost_scale": 1.0,
+    "selection_alternative_time_cost": false,
+    "selection_dropping_probability": 0.0,
+    "switching_blocking_period": 0.0,
+
+    "obstacle_keypoint_offset": 0.1,
+    "obstacle_heading_threshold": 0.45,
+    "roadmap_graph_no_samples": 20,
+    "roadmap_graph_area_width": 10,
+    "roadmap_graph_area_length_scale": 1.0,
+    "h_signature_prescaler": 1,
+    "h_signature_threshold": 0.1,
+
+    "viapoints_all_candidates": true,
+
+    "visualize_hc_graph": false,
+    "visualize_with_time_as_z_axis_scale": 0.0,
+    "delete_detours_backwards": true,
+    "detours_orientation_tolerance": M_PI / 2.0,
+    "length_start_orientation_vector": 0.4,
+    "max_ratio_detours_duration_best_duration": 3.0,
+  },
+
+  "recovery": {
+    "shrink_horizon_backup": true,
+    "shrink_horizon_min_duration": 10,
+    "oscillation_recovery": true,
+    "oscillation_v_eps": 0.1,
+    "oscillation_omega_eps": 0.1,
+    "oscillation_recovery_min_duration": 10,
+    "oscillation_filter_duration": 10
+  }
+}